Combine 1/4 cup milk, sugar, salt, and 3 tablespoons butter in a saucepan; heat until the butter melts. Let cool to 105F-115°F.
Dissolve yeast in warm water in a large mixing bowl; let stand 5 minutes. Stir in milk mixture, 1 1/2 cups flour, and egg; bat at medium speed of an electric mixer until smooth. Stir in remaining 3/4 cup flour.
Turn dough out onto a lightly floured surface, and knead until smooth and elastic ( it usually takes 8-10 minutes). Place in a well greased bowl, turning to grease top. Cober and let rise in a warm place ( about 85 degrees), free from drafts, 1 hour. Dough should double in bulk.
Punch down dough, turn out onto a lightly floured surface. Roll into a 12 x 8 inch rectangle; spread with 2 tablespoons butter. Combine brown sugar, and cinnamon, sprinkle ove rectangle. Sprinkle with raisins, if desired. Roll dough up like a jellyroll, starting at the long side. Pinchthe seam to seal, but do nt seal the ends. Cut roll into 1 inch slices' place slices, cut side down, in a greased 8 inch sqaure pan. brush top with melted butter. Use a fork to gently lift the center of the rolls, to from a peak.
Cover and let rise in a warm place free from drafts, about 40 minutes 9 they will NOT double in bulk). Bake at 350F for 35 minutes.COmbine powdered sugar and 2 tablespoons milk, stir well. Drizzle over warm rolls.